WO2007114117A1

WO2007114117A1 - Dispensing device

Info

Publication number: WO2007114117A1
Application number: PCT/JP2007/056378
Authority: WO
Inventors: Shunji Matsuzaki; Katsunori Hirata
Original assignee: A & T Corporation
Priority date: 2006-04-06
Filing date: 2007-03-27
Publication date: 2007-10-11
Also published as: JP4572255B2; US20090038415A1; JPWO2007114117A1; US8071053B2

Abstract

A dispensing device (100) has a dispensing arm (110), a drive motor (120), and transmission/damping means (180). The dispensing arm (110) conveys liquid, which is drawn at a predetermined drawing position, to a predetermined discharge position and is rotatable. The drive motor (120) rotates the dispensing arm (110). The transmission/damping means (180) has a crankshaft rotated by drive of the drive motor (120) and a crank rod connected to the crankshaft and rotated by rotation of the crankshaft to rotate the dispensing arm (110).

Description

Dispensing device

Technical field

TECHNICAL FIELD [0001] The present invention relates to a dispensing device that transports liquid sucked at a predetermined suction position to a predetermined discharge position by rotating the dispensing arm, and in particular, rotates the dispensing arm by driving a motor. It relates to a dispensing device.

Background art

Conventionally, for example, in an automatic analyzer used for a clinical test, a dispensing apparatus capable of dispensing a reagent to a specimen has been used to generate a chemical reaction liquid between the specimen and the reagent. ing. For example, in a multi-allergen test used to identify a patient's allergies, it is used for automated analysis by dispensing a reagent (piotin-allergen) to a specimen (blood) extracted by the dispensing device using a dispensing device. It is possible to generate a chemical reaction solution containing a substance for the purpose (specific IgE antibody complex).

In such a dispensing apparatus, as shown in FIG. 18 described later, a reagent container held on a reagent table by a dispensing nozzle provided at the tip of a rotatable dispensing arm. Then, the reagent is inhaled and the dispensing arm is rotated by driving the stepping motor to move the dispensing nozzle onto the transfer table and discharge the reagent into the sample container held on the transfer table. There is a dispensing device that can dispense a reagent to a specimen (see, for example, Patent Document 1 below).

FIG. 18 is a perspective view showing an appearance of a conventional dispensing device 1800 using the conventional technology.

A conventional dispensing apparatus 1800 is an apparatus that discharges a reagent 1852 that has been inhaled from a reagent container 1851 disposed in a reagent table 1850 to a sample container 1861 that is disposed in a sample table 1860 and into which a sample 1862 has been injected. The dispensing device 1800 includes a case 1801, a dispensing arm 1810, a drive motor 1820, a drive transmission unit 1830, and a suction / discharge unit 1840.

[0005] Dispensing arm 1810 and drive transmission means 1830 are provided in the upper part of case 1801, and drive motor 1820 is stored therein. Dispensing arm 1810 is a dispensing arm shaft 1 811 and an arm 1812 are configured to rotate by driving of a drive motor 1820.

[0006] The dispensing arm shaft 1811 has a rod-like shape that is rotatably provided on the upper portion of the case 1801. The dispensing arm shaft 1811 pivotally supports the arm 1812 and rotates together with the arm 1812 by driving of the drive motor 1820. In addition, the dispensing arm shaft 1811 moves up and down by driving a drive mechanism (for example, a motor, a hydraulic cylinder, etc.) controlled by a computer (not shown).

The arm 1812 has a rod shape that is pivotally supported by the dispensing arm shaft 1811 and rotates together with the dispensing arm shaft 1811, and a dispensing nozzle 1843 is held at the tip of the arm 1812. The arm 1812 is reciprocated between a predetermined suction position and a predetermined discharge position by rotating the dispensing nozzle 1843 held at the tip of the arm 1812 by rotating with the dispensing arm shaft 1811 by the drive motor 1820. Can be made.

[0008] The arm 1812 moves up and down the dispensing nozzle 1843 held at the tip of the arm 1812 by moving up and down together with the dispensing arm shaft 1811 by driving of a drive mechanism controlled by a computer (not shown). Can do. For example, in order to aspirate the reagent 1852 from the reagent container 1851 arranged on the reagent table 1850, the arm 1812 is moved when the dispensing nozzle 1843 is positioned at a predetermined suction position (directly above the reagent container 1851). The tip of the dispensing nozzle 1843 can be inserted into the reagent 1852 injected into the reagent container 1851 by being lowered together with the dispensing arm shaft 1811.

[0009] The drive motor 1820 is a stepping motor that is driven by the control of a computer (not shown) to rotate the dispensing arm 1810 via the drive transmission means 1830. The drive transmission means 1830 includes a drive shaft, a drive pulley, and a drive belt, and transmits the drive of the drive motor 1820 to the dispensing arm 1810.

The suction / discharge means 1840 includes a syringe pump unit 1841, a syringe pump pipe 1842, and a dispensing nozzle 1843. The syringe pump unit 1841 generates a pressure (negative pressure) for inhaling the reagent 1852 and a pressure (positive pressure) for discharging the reagent 1852 under the control of a computer not shown.

[0011] The pressure (negative pressure and positive pressure) generated by the syringe pump unit 1841 is When the tip of the dispensing nozzle 1843 is injected into the reagent container 1851 and inserted into the reagent 1852, the pressure (by the syringe pump unit 1841) By generating a negative pressure, the tip force of the dispensing nozzle 1843 can also suck the reagent 1852 injected into the reagent container 1851.

[0012] Conversely, when the tip of the dispensing nozzle 1843 into which the reagent 1852 has been aspirated is inserted into the sample container 1861, the syringe pump unit 1841 generates pressure (positive pressure), thereby dispensing. The tip force of the nozzle 1843 can also discharge the reagent 1852 to the specimen container 1861.

Patent Document 1: Japanese Patent Application Laid-Open No. 2002-311036

Disclosure of the invention

Problems to be solved by the invention

[0014] However, in the above-described conventional technology, for example, when the dispensing arm starts rotating and when the dispensing arm stops rotating, the driving characteristics of the motor that drives the dispensing arm The turning speed of the dispensing arm may change suddenly, or the inertial load may change suddenly (, a loose impact).

FIG. 19 is a graph showing an example of a change in the rotational speed of the dispensing arm 1810 in the conventional dispensing device 1800 using the conventional technology. In FIG. 19, the vertical axis indicates the rotation speed of the dispensing arm 1810, and the horizontal axis indicates the rotation angle of the dispensing arm 1810. In FIG. 19, the rotation speed of the dispensing arm 1810 rapidly increases until the rotation speed of the dispensing arm 1810 reaches the maximum immediately after the dispensing arm 1810 starts to rotate.

[0016] Thereafter, the rotational speed of the dispensing arm 1810 indicates that the maximum rotational speed remains maintained. Further, the turning speed of the dispensing arm 1810 indicates that the force immediately before the dispensing arm 1810 stops turning also drops rapidly before the dispensing arm 1810 stops turning. Thus, FIG. 19 shows that the rotational speed of the dispensing arm 1810 changes suddenly when the dispensing arm 1810 starts to rotate and when the dispensing arm 1810 stops rotating. ing.

FIG. 20 is a graph showing an example of a change in the inertial load generated in the dispensing arm 1810 in the conventional dispensing device 1800 using the conventional technique. In Fig. 20, the vertical axis is the dispenser. The inertial load generated in the pipe 1810 is shown, and the horizontal axis shows the rotation angle of the dispensing arm 1810.

In FIG. 20, the inertial load generated in the dispensing arm 1810 is immediately after the rotation of the dispensing arm 1810 is started, immediately before the rotational speed of the dispensing arm 1810 reaches the maximum, and It is shown that there is a sudden change in the inertial load immediately after the start of deceleration of the rotation speed of the web 1810 and immediately before the rotation of the dispensing arm 1810 is stopped.

[0019] Therefore, a dispensing nozzle provided at the tip of the dispensing arm, although the dispensing amount of the reagent is very small (2 to 200 μl) and the accuracy of the dispensing amount is required. This causes a problem that the reagent inhaled in the air is scattered around the dispensing arm and the dispensing accuracy is lowered.

[0020] In order to solve the above-described problems caused by the conventional technology, the present invention does not cause the liquid sucked by the dispensing nozzle provided at the tip of the dispensing arm at the predetermined suction position to splash. The purpose is to provide a dispensing device that can be transported to the discharge position and improve the dispensing accuracy.

Means for solving the problem

In order to solve the above-described problems and achieve the object, the dispensing apparatus according to the present invention conveys the liquid sucked by the dispensing nozzle held at the tip at a predetermined suction position to a predetermined discharge position. A pivotable dispensing arm, a drive motor that pivots the dispensing arm, a crankshaft that rotates by driving the drive motor, and a crankshaft that is connected to the crankshaft. And a transmission means comprising a crank rod that rotates by the rotation and rotates the dispensing arm by the rotation.

[0022] Further, in the dispensing device according to the present invention, in the invention described above, the transmission means is configured such that the dispensing arm starts rotating from the predetermined suction position and the dispensing arm is The crankshaft and the crank rod are connected so that the amount of change in the rotation angle of the dispensing arm is small when the rotation is stopped at a predetermined discharge position.

[0023] Further, in the dispensing device according to the present invention, in the above-described invention, the transmission means is configured to rotate the crankshaft that is rotated by driving of the drive motor and the dispensing arm. The crank rod slider, which is rotatable in conjunction and formed with a through-hole into which one end of the crank rod is inserted, is supported by the crank shaft and rotates as the crank shaft rotates. One end of the crank lever is slidably inserted into a moving crank lever and a through hole formed in the crank rod slider, and the other end of the crank lever is pivotally supported by the crank lever to rotate the crank rod slider. And a crank rod that rotates the crank rod slider by rotating about an axis.

[0024] The dispensing device according to the present invention further includes suction / discharge means for sucking and discharging the liquid according to the invention described above, wherein the suction / discharge means It is mounted on the note arm.

[0025] Further, in the dispensing device according to the present invention, the dispensing nozzle gripped at the tip of the dispensing arm is expanded and contracted by expanding and contracting the dispensing arm. It is further characterized by further comprising expansion / contraction means for moving the dispensing arm in the extending direction.

[0026] Further, in the dispensing device according to the present invention, in the above-described invention, the expansion / contraction means is driven by a second drive motor that expands and contracts the dispensing arm and the second drive motor. A second crankshaft that rotates, and a second crankrod that is connected to the second crankshaft, rotates by the rotation of the second crankshaft, and expands and contracts the dispensing arm by the rotation. And a second transmission means that also has a force.

[0027] Further, in the dispensing device according to the present invention, in the above-described invention, the second transfer means is configured such that when the dispensing arm starts to expand and contract, and when the dispensing arm expands and contracts, The second crankshaft and the second crank rod are connected so that the amount of change in the expansion / contraction speed of the dispensing arm is small when stopping the operation.

[0028] Further, in the dispensing device according to the present invention, in the invention described above, the second transmission means includes a second crankshaft that is rotated by driving of the second drive motor; A second crank lever that is pivotally supported by the second crank shaft and that rotates as the second crank shaft rotates, and one end of the second crank lever that is supported by the second crank pin to the second crank lever. A second crank rod that is pivotally supported, has the other end pivotally supported by the dispensing arm by a piston pin, and rotates the dispensing arm by rotating about the piston pin. Features. The invention's effect

[0029] According to the present invention, the liquid sucked by the dispensing nozzle provided at the tip of the dispensing arm at the predetermined suction position is transported to the predetermined discharge position without being scattered, and the dispensing accuracy is improved. There exists an effect that the dispensing device which can be improved is obtained.

Brief Description of Drawings

FIG. 1 is a perspective view showing an appearance of a dispensing device according to a first embodiment of the present invention.

[FIG. 2] FIG. 2 is a side view showing a transmission buffering means.

FIG. 3 is a plan view showing a transmission 'buffer means.

FIG. 4 is a plan view showing an outline of the state of the dispensing device when the dispensing nozzle held at the tip of the dispensing arm is located at a predetermined suction position.

[Fig. 5] Fig. 5 shows the state of the dispensing device when the dispensing nozzle gripped at the tip of the dispensing arm is rotated to the predetermined discharge position and directed to the predetermined discharge position. It is a top view which shows an outline.

FIG. 6 is a plan view showing an outline of the state of the dispensing device when the dispensing nozzle held at the tip of the dispensing arm is further rotated toward the predetermined discharge position.

FIG. 7 is a plan view showing an outline of the state of the dispensing device when the dispensing nozzle gripped at the tip of the dispensing arm is further rotated toward the predetermined discharge position.

FIG. 8 is a plan view showing an outline of the state of the dispensing device when the dispensing nozzle held at the tip of the dispensing arm is positioned at a predetermined discharge position.

FIG. 9 is a graph showing an example of a change in the rotational speed of the dispensing arm in the dispensing device according to the first embodiment of the present invention.

FIG. 10 is a graph showing an example of a change in inertia load generated in a dispensing arm in the dispensing apparatus according to the first embodiment of the present invention.

FIG. 11 is a perspective view showing the appearance of the dispensing apparatus according to the first embodiment of the present invention.

FIG. 12 is a perspective view showing the appearance of the dispensing apparatus according to the second embodiment of the present invention. O

FIG. 13 is a side view showing a second transmission / buffer means.

[Figure 1-

14] FIG. 14 is a plan view showing the second transmission 'buffer means.

Yes

FIG. 15 is a plan view showing an outline of the state of the dispensing device when the dispensing nozzle held at the tip of the arm is positioned at a predetermined discharge position.

[FIG. 16] FIG. 16 shows the state of the second transmission buffering means when the state force when the dispensing nozzle held at the tip of the arm is located at the predetermined discharge position is also extended toward the predetermined washing position. It is a top view which shows an outline.

FIG. 17 is a plan view showing an outline of the state of the second transmission buffering means when the dispensing nozzle held at the tip of the arm is positioned at a predetermined cleaning position.

FIG. 18 is a perspective view showing an external appearance of a conventional dispensing device using a conventional technique.

[FIG. 19] FIG. 19 is a graph showing an example of a change in the rotational speed of the dispensing arm in the conventional dispensing device using the conventional technique.

FIG. 20 is a graph showing an example of a change in inertia load generated in a dispensing arm in a conventional dispensing device using the conventional technique.

Explanation of symbols

Dispensing device

101 cases

110 dosing arm

111 Dispensing arm shaft

112 arms

120 drive motor

130 Drive transmission means

131 Drive shaft

132 Drive pulley

133 Driving Benoreto

140 Inhalation and discharge means

141 Syringe pump unit

142 Syringe pump pipe 143 dispensing nozzle

150 reagent table

151 Reagent container

152 Reagent

160 specimen table

161 Sample container

162 samples

180 dispenser

180 Transmission, buffer means

181 Crank Leno

182 Crank Rod '

183 Crank rod 'slider

184 crankshaft

185 crankpin

BEST MODE FOR CARRYING OUT THE INVENTION

[0032] Hereinafter, preferred embodiments of a dispensing device according to the present invention will be described in detail with reference to the accompanying drawings.

[Embodiment 1]

(Configuration of dispensing device 100)

First, the configuration of the dispensing apparatus 100 according to the first embodiment will be described with reference to FIG. FIG. 1 is a perspective view showing an appearance of a dispensing apparatus 100 according to the first embodiment of the present invention. In FIG. 1, a dispensing device 100 is a device that discharges a reagent 152 sucked from a reagent container 151 placed on a reagent table 150 to a specimen container 161 placed on a specimen table 160 and into which a specimen 162 is injected. is there.

[0034] In the following, the force described by way of example of the dispensing apparatus 100 for dispensing the reagent 152 to the specimen 162 is not limited to this, and the dispensing apparatus 100 for dispensing a liquid is not limited thereto. For example, the dispensing device 100 for dispensing the sample 162 to the reagent 152 is appropriate. The dispensing apparatus 100 includes a case 101, a dispensing arm 110, a drive motor 120, a drive transmission unit 130, a suction / discharge unit 140, and a transmission / buffer unit 180. Point force for turning dispensing arm 110 via transmission / buffering means 180 by driving drive motor 120. Unlike conventional dispensing device 1800 described above.

The case 101 is formed in a rectangular shape, and is provided with a dispensing arm 110, a drive transmission means 130, and a drive motor 120 in the upper part, and a transmission buffering means 180 is stored therein. The dispensing arm 110 includes a dispensing arm shaft 111 and an arm 112, and is rotated by driving of the driving motor 120.

[0037] The dispensing arm shaft 111 is in the shape of a rod that is erected on the upper part of the case 101 so as to be rotatable. The dispensing arm shaft 111 pivotally supports the arm 112 and rotates together with the arm 112 by driving of the drive motor 120. In addition, the dispensing arm shaft 111 moves up and down by driving a drive mechanism (for example, a motor, a hydraulic cylinder, etc.) controlled by a computer (not shown).

The arm 112 has a rod shape that is pivotally supported by the dispensing arm shaft 111 and rotates together with the dispensing arm shaft 111, and a dispensing nozzle 143 is held at the tip of the arm 112. The arm 112 rotates together with the dispensing arm shaft 111 by driving the drive motor 120, thereby causing the dispensing nozzle 143 held at the tip of the arm 112 to move between a predetermined suction position and a predetermined discharge position. It can be moved back and forth between them.

[0039] The arm 112 is moved up and down together with the dispensing arm shaft 111 by driving of a drive mechanism controlled by a computer (not shown), so that the dispensing nozzle 143 held at the tip of the arm 112 is moved up and down. Can be made. For example, in order to suck the reagent 152 from the reagent container 151 arranged on the reagent table 150, the arm 112 is moved when the dispensing nozzle 143 is located at a predetermined suction position (directly above the reagent container 151). The tip of the dispensing nozzle 143 can be inserted into the reagent 152 injected into the reagent container 151 by being lowered together with the dispensing arm shaft 111.

[0040] The drive motor 120 rotates the dispensing arm 110 via the drive transmission means 130 and the transmission / buffering means 180. Therefore, the drive motor 120 is driven by a computer (not shown) (DC motor or DC motor). AC motor). The drive transmission means 130 includes a drive shaft 131, a drive The driving pulley 132 and the driving belt 133 are configured to transmit the driving motor 120 to the dispensing arm 110 together with the transmission / buffer unit 180.

[0041] The suction / discharge means 140 includes a syringe pump unit 141, a syringe pump pipe 142, and a dispensing nozzle 143. The syringe pump unit 141 generates a pressure (negative pressure) for inhaling the reagent 152 and a pressure (positive pressure) for discharging the reagent 152 under the control of a computer (not shown).

[0042] The pressure (negative pressure and positive pressure) generated by the syringe pump unit 141 is transmitted to the dispensing nozzle 143 via the syringe pump pipe 142. For example, the tip of the dispensing nozzle 143 is injected into the reagent container 151. When a pressure (negative pressure) is generated by the syringe pump unit 141 when the reagent 152 is inserted in the reagent 152, the tip force of the dispensing nozzle 143 can also inhale the reagent 152 injected into the reagent container 151. it can.

On the other hand, when the tip of the dispensing nozzle 143 into which the reagent 152 has been aspirated is inserted into the sample container 161, a pressure (positive pressure) is generated by the syringe pump unit 141, whereby the dispensing nozzle 143 The distal end force can also discharge the reagent 152 to the specimen container 161.

The transmission / buffer unit 180 transmits the drive of the drive motor 120 to the dispensing arm 110 together with the drive transmission unit 130. Further, the transmission buffering means 180 absorbs a sudden change in the rotation speed generated in the drive motor 120 when the drive of the drive motor 120 is started or when the drive of the drive motor 120 is stopped. The change in the rotation speed of the dispensing arm 110 that is rotated by the drive of the drive motor 120 is moderated.

[0045] (Construction of transmission / buffering means 180)

Next, details of the configuration of the transmission buffering means 180 will be described with reference to FIG. 2 and FIG. FIG. 2 is a side view showing the transmission 'buffering means 180. FIG. 3 is a plan view showing the transmission / buffer unit 180. As shown in FIGS. 2 and 3, the transmission / buffer unit 180 includes a crank lever 181, a crank rod 182, a crank rod slider 183, a crank shaft 184, and a crank pin 185. .

[0046] The crank lever 181 converts the rotational motion generated in the crankshaft 184 by the drive of the drive motor 120 into the swing motion of the crank rod 182. The crank lever 181 is supported by the crankshaft 184 and rotates together with the crankshaft 184. Move. Also installed at the tip of the crank lever 181 The crank rod 182 is rotatably connected by the crank pin 185.

[0047] The crank lever 181 drives the drive motor 120 to rotate the dispensing arm 110 together with the crankshaft 184 to a predetermined discharge position (direction A) and the dispensing arm 110 to a predetermined suction position. The crank rod 182 connected by the crank pin 185 can be rotated by rotating in the rotating direction (direction B).

The crank rod 182 has a rod shape that connects the crank lever 181 and the crank rod slider 183 so that the crank rod slider 183 rotates as the crank lever 181 rotates. The crank rod 182 is inserted into a through hole 1 83A formed in the crank rod slider 183 at one end so as to be slidable in the direction C and the direction D, and the other end is attached to the crank lever 181 by a crank pin 185. Be supported.

Crank rod slider 183 is formed at the end of drive shaft 131 provided in drive transmission means 130 and rotates together with drive shaft 131 and pulley 132. The crank rod slider 183 has a through hole 183A, and the crank rod 182 is inserted and fitted so as to be slidable in the direction C and the direction D. The crank rod slider 183 moves the dispensing arm 110 together with the drive shaft 131 to the predetermined discharge position (direction E) and the dispensing arm 110 by rotating the crank rod 182 as the crank lever 181 rotates. Rotate in the direction (direction F) to rotate to the specified suction position.

[0050] In the dispensing device 100 in the present embodiment, the rotation angle of the crank rod slider 183 and the rotation angle of the dispensing arm 110 are set to the same angle by the drive belt 133 of the drive pulley 132. Force that makes the diameter of the drive part and the diameter of the drive part of the dispensing arm 110 driven by the drive belt 133 not limited to this. The rotation angle of the crank rod slider 183 is different from the rotation angle of the dispensing arm 110. Thus, the diameter of the drive portion of the drive pulley 132 by the drive belt 133 and the diameter of the drive portion of the dispensing arm 110 by the drive belt 133 may be different.

[0051] The crankshaft 184 rotates in conjunction with the drive of the drive motor 120. The crankshaft 184 pivotally supports the crank lever 181 and rotates together with the crank lever 181. The crank pin 1 85 connects the crank lever 181 and the crank rod 182 so as to freely rotate.

[0052] (State of dispensing device 100 when dispensing nozzle 143 is located at a predetermined suction position) Next, the operation of the dispensing apparatus 100 having the above-described configuration will be described with reference to FIGS. First, the state of the dispensing apparatus 100 when the dispensing nozzle 143 is positioned at a predetermined suction position will be described with reference to FIG. FIG. 4 is a plan view showing an outline of the state of the dispensing device 100 when the dispensing nozzle 143 gripped at the tip of the dispensing arm 110 is located at a predetermined suction position.

[0053] In FIG. 4, the crank lever 181 that is rotated by the drive of the drive motor 120 is in a state where the crank pin 185 that connects the crank lever 181 and the crank rod 182 is located at a position corresponding to a predetermined suction position. The drive of the drive motor 120 is stopped and the rotation is stopped by the control of a computer (not shown).

[0054] Since the crank pin 185 that connects the crank lever 181 and the crank rod 182 is positioned at a position corresponding to a predetermined suction position, the crank rod that is pivotally supported by the crank pin 185 and the crank rod slider 183. In 182 XI. Inclination occurs. At this time, the intersection angle (angle a) between the crank lever 181 and the crank rod 182 needs to be within 90 °, and is most preferably 90 °.

Here, in dispensing device 100 in the present embodiment, the diameter of the drive portion by drive belt 133 of drive pulley 132 that rotates together with crank rod slider 183, and the drive belt of dispense arm 110 Since the diameter of the drive portion by 133 is the same, the rotation angle of the dispensing arm 110 is the same as the rotation angle of the crank rod slider 183 (that is, the inclination angle of the crank rod 182).

[0056] Therefore, XI in the crank rod 182 as shown in FIG. As a result, the crank rod slider 183, the drive pulley 132, and the dispensing arm 110 are rotated by Xl °, and the dispensing arm 110 is XI. Inclination occurs. As a result, the dispensing nozzle 143 held at the tip of the dispensing arm 110 is in a state of being located at a predetermined suction position (P21).

[0057] Thus, by lowering the dispensing nozzle 143 together with the dispensing arm 110 from the state where the dispensing nozzle 143 is located at the predetermined suction position (P21), the tip of the dispensing nozzle 143 is moved to the reagent. It can be inserted into the reagent 152 injected into the container 151. When the tip of the dispensing nozzle 143 is inserted into the reagent 152 injected into the reagent container 151, a pressure (negative pressure) is generated by the syringe pump unit 141, whereby the dispensing nozzle 14 The tip force of 3 can also inhale the reagent 152 injected into the reagent container 151.

[0058] (Operation of dispensing apparatus 100 when dispensing arm 110 starts to rotate)

Next, the operation of the dispensing apparatus 100 when the dispensing arm 110 starts to rotate will be described with reference to FIGS. FIG. 5 shows an outline of the state of the dispensing device 100 when the dispensing nozzle 143 held at the tip of the dispensing arm 110 is rotated toward the predetermined discharge position by the state force when the dispensing nozzle 143 is positioned at the predetermined suction position. FIG.

[0059] In FIG. 5, the crank lever 181 that is rotated by the drive of the drive motor 120 is in a state where the crank pin 185 that connects the crank lever 181 and the crank rod 182 is located at a position corresponding to a predetermined suction position. The driving motor 120 controlled by a computer (not shown) is rotated about 45 ° in the direction A by driving the driving motor 120.

[0060] Then, the crank rod 182 pivotally supported by the crank pin 185 and the crank rod slider 183 is rotated by the position force corresponding to the predetermined suction position of the crank pin 185 by about 45 °. The inside of the through-hole 183A formed in is slid in the direction D and already XI. The inclination of the crank rod 182 that has been tilted is eliminated, and the crank rod 182 is tilted by X2 °.

[0061] In addition, the crank rod 182, the drive shaft 131, and the drive pulley 132 are further rotated in the direction E due to the cancellation of the inclination in the crank rod 182. Further, since the drive pulley 132 is further rotated in the direction E, the dispensing arm 110 is further rotated in the direction G. Then, when the dispensing arm 110 is further rotated in the direction G, the inclination of the dispensing arm 110, which has already been tilted with the heel, is eliminated, and the dispensing arm 110 is tilted by X2 °. It becomes.

[0062] FIG. 6 shows the state force of the dispensing device 100 described above with reference to FIG. 5 when the dispensing nozzle 143 gripped at the tip of the dispensing arm 110 is further rotated toward the predetermined discharge position. 2 is a plan view showing an outline of the state of dispensing apparatus 100. FIG.

[0063] In FIG. 6, the crank lever 181 that is rotated by the drive of the drive motor 120 has a state force direction in which the crank pin 185 that connects the crank lever 181 and the crank rod 182 is located at a position corresponding to a predetermined suction position. The drive motor 120 is controlled by a computer (not shown) from a state where it is rotated about 45 ° in the direction A (the state shown in FIG. 5). Due to the movement, the force in the direction A is further rotated by about 45 ° (that is, the state force in which the crank pin 185 is located at the position corresponding to the predetermined suction position is also rotated by about 90 ° in the direction A).

[0064] Then, when the crank pin 185 is further rotated by about 45 °, the crank rod 182 pivotally supported by the crank pin 185 and the crank rod slider 183 becomes a through hole 183A formed in the crank rod slider 183. The crank rod 182 that had already tilted by X2 ° has been lifted, and the crank rod 182 has been tilted by 0 ° (i.e., the tilt is No state).

[0065] In addition, the crank rod 182, the drive shaft 131, and the drive pulley 132 are further rotated in the direction E due to the cancellation of the inclination in the crank rod 182. Further, since the drive pulley 132 is further rotated in the direction E, the dispensing arm 110 is further rotated in the direction G via the drive belt 133.

[0066] Then, when the dispensing arm 110 is turned in the direction G, the inclination of X2 ° has already occurred, and the dispensing arm 110 has been canceled! Note The arm 110 is tilted 0 ° (ie, tilted !, state).

[0067] (Operation of dispensing device 100 when dispensing arm 110 stops rotating)

Next, the operation of the dispensing device 100 when the dispensing arm 110 stops rotating will be described with reference to FIGS. FIG. 7 shows a state where the state force of the dispensing device 100 described above with reference to FIG. 6 is also dispensed when the dispensing nozzle 143 held at the tip of the dispensing arm 110 further rotates toward the predetermined discharge position. 4 is a plan view showing an outline of the state of the device 100.

[0068] In FIG. 7, the crank lever 181 has a state force of about 90 ° when the crank pin 185 connecting the crank lever 181 and the crank rod 182 is located at a position corresponding to a predetermined suction position. From the rotated state (the state shown in FIG. 6), the illustration is omitted. The drive motor 120 is driven by computer control, and further about 45 ° in the direction A (that is, the crank pin 185 is predetermined). The state force located at a position corresponding to the suction position of the head is rotated by about 135 ° in the direction A.

[0069] Then, when the crank pin 185 is further rotated by about 45 °, the crank rod 182 pivotally supported by the crank pin 185 and the crank rod slider 183 becomes the crank rod slider 1 The inside of the through hole 183A formed in 83 slides in the direction C, and the crank rod 182 is inclined by −X2 °.

[0070] In addition, the crank rod 182, the drive shaft 131, and the drive pulley 132 are further rotated by X2 ° in the direction E due to the inclination of the crank rod 182 being one X2 °. In addition, as the driving pulley 132 is further rotated by X2 ° in the direction E, the dispensing arm 110 is further rotated by X2 ° in the direction G through the driving belt 133. . When the dispensing arm 110 is further rotated by X2 ° in the direction G, the dispensing arm 110 is tilted by —X2 °, and the dispensing arm 110 is tilted by —X2 °.

FIG. 8 shows the state force of the dispensing device 100 described above with reference to FIG. 7. The dispensing arm 110 further rotates when the dispensing arm 110 is directed to a predetermined discharge position, and is held by the tip of the dispensing arm 110. FIG. 6 is a plan view showing an outline of the state of the dispensing device 100 when the dispensing nozzle 143 is positioned at a predetermined discharge position.

In FIG. 8, the crank lever 181 has a state force of about 135 ° when the crank pin 185 that connects the crank lever 181 and the crank rod 182 is located at a position corresponding to a predetermined suction position. From the rotated state (the state shown in FIG. 7), the driving motor 120 is driven by the control of a computer (not shown), and the force is further increased by about 45 ° in the direction A (that is, the crankpin 185 is set to a predetermined value). The state force located at the position corresponding to the suction position is also rotated by about 180 ° in the direction A, and the crank pin 185 is located at the position corresponding to the predetermined discharge position. The rotation is stopped by the control of.

[0073] Then, when the crank pin 185 is further rotated by about 45 ° and positioned at a position corresponding to a predetermined discharge position, the crank rod 182 supported by the crank pin 185 and the crank rod slider 183 is The slide rod 183A further slides in the through hole 183A formed in the rod slider 183 in the direction C, and at the crank rod 182 that has already been tilted by 1 X2 °, the crank rod 182 is . It will be tilted. At this time, the angle of intersection (angle b) between the crank lever 181 and the crank rod 182 needs to be within 90 °, and is most preferably 90 °. Further, the crank rod 182, the drive shaft 131, and the drive pulley 132 are further rotated in the direction E due to the further inclination in the crank rod 182. In addition, since the driving pulley 132 is further rotated in the direction E, the dispensing arm 110 is further rotated in the direction G via the driving belt 133.

[0075] And, as the dispensing arm 110 was further rotated in the direction G,

An additional tilt occurs in the dispensing arm 110 that has been tilted by -X2 °, and the dispensing arm 110 is tilted by -Xl °, and the dispensing nozzle 14 3 held at the tip of the dispensing arm 110 is in a predetermined position. It is in a state where it is located at the discharge position (P22).

[0076] In this way, by lowering the dispensing nozzle 143 together with the dispensing arm 110 from the state where the dispensing nozzle 143 is located at the predetermined discharge position (P22), the tip of the dispensing nozzle 143 is moved down. The sample container 161 can be inserted. Then, when the tip of the dispensing nozzle 143 is inserted into the sample container 1 61, a pressure (positive pressure) is generated by the syringe pump unit 141, whereby the tip force of the dispensing nozzle 143 is also applied to the sample container 161. 152 can be discharged.

[0077] (Change in Dispensing Speed of Dispensing Arm 110 and Change in Inertia Load of Dispensing Arm 110) In the operation of dispensing apparatus 100 described above with reference to FIGS. 4 to 8, as crank lever 181 rotates. The crank rod 182 that rotates while changing the inclination angle is inclined so that the dispensing arm 110 starts to rotate while gradually increasing the amount of change in the rotation speed from the predetermined suction position (P21). It rotates while gradually increasing the amount of change in angle. In addition, the crank mouth pad 182 gradually changes the amount of change in inclination angle so that the dispensing arm 110 stops turning while gradually reducing the amount of change in turning speed at a predetermined discharge position (P22). Rotate while decreasing.

Thereby, the dispensing arm 110 starts rotating from the state where the dispensing arm 110 is stopped at the predetermined suction position (P21) (the rotational speed is 0), and is shown in FIG. 9 to be described later. As shown in Fig. 10, which will be described later, while rotating gradually without a sudden change in rotational speed, it rotates with a direct force toward a predetermined discharge position (P22) without a sudden change in inertial load. To do. Dispensing arm 110 reaches the intermediate position between the predetermined suction position (P21) and the predetermined discharge position (P22), and at the same time, the rotation speed reaches the maximum. [0079] Further, the dispensing arm 110 has an intermediate position force between the predetermined suction position (P21) and the predetermined discharge position (P22), as shown in FIG. While gradually decelerating, as shown in FIG. 10, which will be described later, it rotates toward a predetermined discharge position (P22) without causing a sudden change in inertial load. Then, the dispensing arm 110 stops rotating as soon as the rotation of the dispensing arm 110 reaches a predetermined discharge position (P22).

FIG. 9 is a graph showing an example of a change in the rotational speed of the dispensing arm 110 in the dispensing apparatus 100 according to the first embodiment of the present invention. In FIG. 9, the vertical axis indicates the rotation speed of the dispensing arm 110, and the horizontal axis indicates the rotation angle of the dispensing arm 110. In FIG. 9, the rotation speed of the dispensing arm 110 is determined by the rotation angle of the dispensing arm 110 from the predetermined suction position (P21) to the predetermined suction position (P21) and the predetermined discharge position (P22). It is shown that it gradually increases without a sudden change in the rotation speed until the intermediate position.

[0081] Then, the rotation speed of the dispensing arm 110 reaches a maximum at the intermediate position between the predetermined suction position (P21) and the predetermined discharge position (P22) when the rotation angle of the dispensing arm 110 is set to the maximum. It shows. Further, the rotation speed of the dispensing arm 110 is determined by the rotation angle of the dispensing arm 110 between the predetermined suction position (P21) and the predetermined discharge position (P22) until the predetermined discharge position (P22). The figure shows that the speed falls slowly without causing a sudden change in the rotation speed.

[0082] Thus, in FIG. 9, the rotation speed of the dispensing arm 110 is such that the dispensing arm 110 starts rotating from the predetermined suction position (P21) and rotates at the predetermined discharge position (P22). It is shown that it changes slowly without sudden change until it stops moving.

FIG. 10 is a graph showing an example of a change in the inertial load generated in the dispensing arm 110 in the dispensing apparatus 100 according to the first embodiment of the present invention. In FIG. 10, the vertical axis represents the inertial load generated in the dispensing arm 110, and the horizontal axis represents the rotation angle of the dispensing arm 110. In FIG. 10, the inertial load generated in the dispensing arm 110 causes the dispensing arm 110 to start rotating from the predetermined suction position (P21) and stop rotating at the predetermined discharge position (P22). It is shown that it changes slowly without sudden change.

As described above, according to the dispensing apparatus 100 in the first embodiment, the drive motor 120 is driven. The drive of the drive motor 120 is separated via a transmission buffering means 180 having a crankshaft 184 that rotates by movement and a crank rod 182 that is connected to the crankshaft 184 and rotates by rotation of the crankshaft 184. The dispensing arm 110 is rotated to transmit to the dispensing arm 110. As a result, even if a sudden change occurs in the drive of the drive motor 120, the dispensing arm 110 is subjected to vibrations and shocks due to a sudden change in the rotation speed and a sudden change in the inertial load. The dispensing arm 110 can be rotated without causing it.

[0085] Then, by rotating the dispensing arm 110 without causing vibration or impact to the dispensing arm 110, the reagent container is provided by the dispensing nozzle 143 held at the tip of the dispensing arm 110. It is possible to discharge the reagent 152 into the sample container 161 by transporting the dispensing nozzle 143 to a predetermined discharge position without scattering the reagent 152 sucked from 151. As a result, the dispensing accuracy when the reagent 152 is dispensed into the sample container 161 by the dispensing apparatus 100 can be improved.

It should be noted that the dispensing apparatus 100 according to the first embodiment has a crank lever 181 and a crank rod 182 that are driven by the motor 120 in reverse to the operation of the dispensing apparatus 100 described above with reference to FIGS. The pivoting arm 110 is rotated to the position corresponding to the predetermined suction position by rotating the position force corresponding to the predetermined discharge position, so that the dispensing arm 110 is not vibrated or shocked. Can be rotated.

[0087] (Another configuration example of dispensing apparatus 100)

Next, another configuration example of the dispensing apparatus 100 will be described with reference to FIG. FIG. 11 is a perspective view showing the appearance of the dispensing apparatus 100 according to the first embodiment of the present invention. As shown in FIG. 11, in the dispensing device 100, the dispensing arm 110 is provided with a syringe pump unit 141 provided in the suction / discharge means 140 in contrast to the dispensing device 100 described above with reference to FIG. It differs from the dispensing apparatus 100 described above with reference to FIG. 1 in that it is disposed on the dispensing arm shaft 111.

[0088] Also, since the syringe pump unit 141 is disposed on the dispensing arm shaft 111, the length of the syringe pump pipe 142 for transmitting pressure from the syringe pump unit 141 to the dispensing nozzle 143 is shortened. This is different from the dispensing apparatus 100 described above with reference to FIG. In this manner, the dispensing apparatus 100 shown in FIG. 11 can reduce the installation area of the dispensing apparatus 100 by disposing the syringe pump unit 141 on the dispensing arm shaft 111. As a result, the dispensing device 100 can be reduced in size. Further, the length of the syringe pump pipe 142 can be shortened, and in some cases, a metal material can be used for part or all of the syringe pump pipe 142. As a result, it is possible to prevent a decrease in pressure transmitted to the dispensing nozzle 143 caused by vibration and expansion of the syringe pump pipe 142 and a prolonged pressure transmission time. It is possible to improve dispensing accuracy (accuracy of reagent 152 inhalation amount and accuracy of reagent 152 discharge amount) and shorten dispensing time.

[0090] Even when a heavy object (for example, a syringe pump unit 141 having a weight of about 400 grams) is placed on the dispensing arm 110 and the weight of the dispensing arm 110 is increased, the transmission 'buffer' Since the driving torque of the drive motor 120 is increased by the means 180, the dispensing arm 110 can be rotated with a small driving force without affecting the change in the rotation speed of the dispensing arm 110 or the change in the inertial load. Can do. Therefore, even when the small drive motor 120 or the low power consumption drive motor 120 is used as the drive motor 120, the dispensing arm 110 whose weight has increased can be rotated.

[0091] (Embodiment 2)

(Configuration of dispensing device 1200)

Next, the configuration of the dispensing apparatus 1200 according to the second embodiment will be described with reference to FIG. FIG. 12 is a perspective view showing an appearance of the dispensing apparatus 1200 according to the second embodiment of the present invention. In FIG. 12, a dispensing device 1200 is a device that discharges the reagent 152 sucked from the reagent container 151 arranged in the reagent table 150 to the sample container 161 arranged in the sample table 160 and injected with the sample 162. is there.

In addition, the dispensing device 1200 extends the arm 112 after discharging the reagent 152 to the specimen container 161, so that the dispensing nozzle 143 held at the tip of the arm 112 is moved by the cleaning device 1210. Can be washed. In addition to the same configuration as the dispensing apparatus 100 described in the first embodiment, the dispensing apparatus 1200 includes a second case 1230 for expanding and contracting the arm 112, a second transmission 'buffering means 1240, Second drive motor 1250 and arm slider 1260 is further provided. In the following, the same reference numerals are given to the same portions as those already described in Embodiment 1, and the description thereof is omitted.

The second case 1230 is formed in a rectangular shape, the second drive motor 1250 is placed on the top, and the second transmission / buffer unit 1240 is stored inside. The second case 1230 is pivotally supported by the dispensing arm shaft 111, and rotates together with the dispensing arm 110 and the arm 112 by the drive motor 120. The upper surface of the second case 1230 is extended in the direction in which the arm 112 extends.

The second transmission / buffer unit 1240 expands and contracts the arm 112 by driving the second drive motor 1250. In addition, the second transmission / buffer unit 1240 has a sudden change in the rotation speed generated in the second drive motor 1250 when the expansion / contraction of the arm 112 is started or when the expansion / contraction of the arm 112 is stopped. And the change in the expansion / contraction speed of the arm 112 that expands and contracts by the drive of the second drive motor 1250 is moderated.

[0095] The second drive motor 1250 is a motor (AC motor or DC motor) that is driven by control of a computer (not shown) to extend and retract the arm 112 via the second transmission / buffer means 1240. It is. The arm slider 1260 is formed near the tip on the back side of the upper surface of the second case 1230 extended in the direction in which the arm 112 extends. The arm slider 1260 is formed with a through hole 1260A shown in FIG. 13 to be described later, and is inserted so that the arm 112 can slide in the extending direction (direction I) and the contracting direction (direction J). Fitted.

[0096] (Configuration of second transmission buffering means 1240)

Next, the details of the configuration of the second transmission buffer 1240 will be described with reference to FIGS. 13 and 14. FIG. FIG. 13 is a side view showing the second transmission 'buffer means 1240. FIG. 14 is a plan view showing the second transmission / buffering means 1240. As shown in FIG. 13 and FIG. 14, the second transmission / buffer means 1240 includes a second crank lever 1241, a second crank rod 1242, a second crank shaft 1243, and a second crank pin. 1244 and a piston pin 1245 are provided.

[0097] The second crank lever 1241 converts the rotational motion generated in the second crank shaft 1243 by the drive of the second drive motor 1250 into the telescopic motion of the arm 112. The second crankshaft 1243 is pivotally supported by the second crankshaft 1243 and is rotated. The second crank rod 1242 is rotatably connected by a second crank pin 1244 disposed at the tip of the second crank lever 1241.

[0098] The second crank lever 1241 is driven by the second drive motor 1250 to move the arm 112 together with the second crank shaft 1243 (direction K) and to extend the arm 112 (direction L). The second crank rod 1242 connected by the second crank pin 1244 can be rotated.

[0099] The second crank rod 1242 has a rod shape that connects the second crank lever 1241 and the arm 112 such that the arm 112 expands and contracts as the second crank lever 1241 rotates. The second crank rod 1242 has one end pivotally supported on the second crank lever 1241 by the second crank pin 1244 and the other end pivotally supported on the arm 112 by the piston pin 1245.

[0100] The second crankshaft 1243 rotates in conjunction with the drive of the second drive motor 1250. The second crankshaft 1243 pivotally supports the second crank lever 1241 and rotates together with the second crank lever 1241. The second crank pin 1244 connects the second crank lever 1241 and the second crank rod 1242 in a rotatable manner. The piston pin 1245 connects the arm 112 and the second crank rod 1242.

[0101] (Second transmission when the dispensing nozzle 143 is positioned at a predetermined discharge position)

Next, the operation of the second transmission / buffer unit 1240 configured as described above will be described with reference to FIGS. First, the state of the second transmission / buffer unit 1240 when the dispensing nozzle 143 is positioned at a predetermined discharge position will be described with reference to FIG. FIG. 15 is a plan view showing an outline of the state of the dispensing device 100 when the dispensing nozzle 143 held at the tip of the arm 112 is located at a predetermined discharge position.

In FIG. 15, a second crank lens 1241 that is rotated by driving the second drive motor 1250 includes a second crank lever 1241 and a second crank rod 1242 that are rotatably connected to each other. With the second crankpin 1244 positioned at a position corresponding to a predetermined discharge position, the second drive motor 1250 is driven under the control of a computer (not shown). The force S is stopped and the rotation is stopped.

[0103] Then, since the second crank pin 1244 connecting the second crank lever 1241 and the second crank rod 1242 is located at a position corresponding to a predetermined suction position, the second crank rod 1242 The arm 112 connected to the second crank lever 1241 is in the most degenerated state. As a result, the dispensing nozzle 144 held by the tip of the arm 112 is in a state where it is positioned at a predetermined discharge position (P22).

From this state, the dispensing device 1200 lowers the arm 112 together with the dispensing arm shaft 111, and discharges the reagent 152 into the sample container 161 from the dispensing nozzle 143 held at the tip of the arm 112. After that, the arm 112 is lifted together with the dispensing arm shaft 111, and the arm 112 is further extended, so that the dispensing nozzle 143 held at the tip of the arm 112 is positioned at a predetermined washing position, and dispensing is performed. The nozzle 143 can be cleaned by the cleaning device 1210.

[0105] (Operation of second transmission buffering means 1240 when arm 112 is extended)

Next, the operation of the second transmission buffer unit 1240 when the arm 112 is extended will be described with reference to FIG. FIG. 16 shows a state force when the dispensing nozzle 143 held at the tip of the arm 112 is located at a predetermined discharge position. FIG.

In FIG. 16, the second crank lever 1241 rotated by driving the second drive motor 1250 is a second crank pin 1244 that connects the second crank lever 1241 and the second crank rod 1242. Is rotated from the state corresponding to the predetermined discharge position by about 90 ° in the direction L by the drive of the second drive motor 1250 under the control of a computer (not shown).

[0107] Then, when the second crank pin 1244 is rotated by about 90 ° in the position force corresponding to the predetermined discharge position, the arm 112 connected to the second crank lever 1241 by the second crank rod 1242 is moved. The inside of the through hole 1260A formed in the arm slider 1260 is slid in the direction I and extended.

[0108] (Second transmission when the dispensing nozzle 143 is positioned at the predetermined washing position) Next, the state of the second transmission buffering means 1240 when the dispensing nozzle 143 is positioned at a predetermined cleaning position will be described with reference to FIG. FIG. 17 shows that the state force of the second transmission buffer 1240 described above with reference to FIG. 16 is such that the arm 112 further extends toward the predetermined cleaning position, and the dispensing nozzle held at the tip of the arm 112 143 FIG. 10 is a plan view showing an outline of the state of the second transmission / buffer unit 1240 when is positioned at a predetermined cleaning position.

In FIG. 17, the second crank lever 1241 that is rotated by the drive of the second drive motor 1250 is a second crank pin 1244 that connects the second crank lever 1241 and the second crank rod 1242. The state force at the position corresponding to the predetermined discharge position is also rotated by about 90 ° in the direction L (the state shown in FIG. 16), and the second drive by the computer control is omitted. The motor 1250 is driven to rotate in the direction L by about 90 °, and the second crankpin 1244 is positioned at a position corresponding to a predetermined cleaning position, and is controlled by a computer (not shown). The drive of the second drive motor 1250 is stopped and the rotation is stopped.

[0110] As the second crankpin 1244 is further rotated by about 90 ° in the direction L, the arm 112 moves in the direction I inside the through hole 1260A formed in the arm slider 1260. It is further slid and stretched by force.

[0111] As the arm 112 further slides and extends in the direction I in the through hole 1260A formed in the arm slider 1260, the arm 112 is in the most extended state. As a result, the dispensing nozzle 143 gripped at the tip of the arm 112 is in a state of being positioned at the predetermined cleaning position (P23).

[0112] From such a state, the dispensing device 1200 lowers the arm 112 together with the dispensing arm shaft 111, thereby inserting the dispensing nozzle 143 gripped at the tip of the arm 112 into the cleaning device 1210. Thus, the dispensing nozzle 143 can be cleaned by the cleaning device 1210.

[0113] (Change in extension speed of arm 112 and change in inertia load of dispensing arm 110)

On the other hand, the arm 112 that is extended via the second transmission / buffer means 1240 by the drive of the second drive motor 1250 is stopped at the predetermined discharge position (P22) (the state of the extension speed force SO) Start stretching and gradually accelerate without sudden changes in stretching speed However, it extends toward the predetermined cleaning position (P23) without causing a sudden change in the inertial load. The arm 112 reaches an intermediate position between the predetermined discharge position (P22) and the predetermined cleaning position (P23), and at the same time, the extension speed reaches the maximum.

[0114] Then, the arm 112 has an intermediate position force between the predetermined discharge position (P22) and the predetermined cleaning position (P23). Without any change, it stretches to the predetermined cleaning position (P23). The arm 112 stops extending at the same time as the extension of the arm 112 reaches a predetermined cleaning position (P23).

As described above, according to the dispensing apparatus 1200 in the second embodiment, the second crankshaft 1243 rotated by the drive of the second drive motor 1250 and the second crankshaft 1243 are connected. The second drive motor 1250 is transmitted to the arm 112 through a second transmission 'buffer means 134 having a second crank rod 1242 that is connected to the second crank rod 1242 that is connected to the second crank shaft 1243. Thus, the arm 112 is expanded and contracted. As a result, even if there is a sudden change in the drive of the second drive motor 1250, the arm 112 is subject to vibration or shock due to a sudden change in the extension speed or a sudden change in the inertial load. The arm 112 can be expanded and contracted without causing any damage.

[0116] Dispensing apparatus 1200 according to the second embodiment is configured to drive second drive motor 1250, contrary to the operation of second transmission / buffer unit 1240 described above with reference to Figs. Therefore, the second crank pin 1244 that connects the second crank lever 1241 and the second crank rod 1242 is rotated from the position corresponding to the predetermined cleaning position to the position corresponding to the predetermined discharge position. The arm 112 can be degenerated without giving vibration or shock to the arm 112.

[0117] As described above, according to the dispensing device of the present invention, the crankshaft 184 that is rotated by the drive of the drive motor 120, and the crankshaft 184 that is connected to the crankshaft 184 is rotated by the rotation of the crankshaft 184. The drive of the drive motor 120 is transmitted to the dispensing arm 110 via the transmission buffering means 180 including the crank rod 182 that moves, and the dispensing arm 110 is rotated. As a result, the dispensing arm 110 can be rotated without causing vibration or shock to the dispensing arm 110. Therefore, the dispensing nozzle 143 can be transported to a predetermined discharge position without scattering the reagent 152 sucked by the dispensing nozzle 143. That As a result, the dispensing accuracy when dispensing the reagent 152 can be improved.

[0118] Also, according to the dispensing device of the present invention, the syringe pump unit 141 is disposed on the dispensing arm shaft 111, so that the installation area of the dispensing device can be reduced. The device 100 can be miniaturized. Further, the length of the syringe pump pipe 142 can be shortened, and in some cases, a metal material can be used for part or all of the syringe pump pipe 142. As a result, the pressure transmitted to the dispensing nozzle 143 caused by the vibration and expansion of the syringe pump pipe 142 can be prevented and the pressure transmission time can be prevented from being prolonged. Can improve dispensing accuracy (accuracy of reagent 1502 inhalation volume and accuracy of reagent 152 discharge volume) and shorten dispensing time.

[0119] Further, according to the dispensing device of the present invention, the configuration using the transmission 'buffering means 180 capable of increasing the driving torque of the driving motor 120 enables even a heavy object (for example, about 400 grams). Even if the weight of the dispensing arm 110 is increased when the weight of the syringe pump unit 141) is placed on the dispensing arm 110 and the weight of the dispensing arm 110 is increased, the change in the inertial load is changed. The dispensing arm 110 can be rotated with a small driving force that does not affect the movement. Therefore, a small drive motor 120 or a drive motor 120 with low power consumption can be used as the drive motor 120.

Furthermore, according to the dispensing device of the present invention, even when the arm 112 is expanded and contracted and the dispensing nozzle 143 is cleaned by the cleaning device 1210, the second drive motor 1250 By constructing the arm 112 to expand and contract via the second transmission / buffering means 1240 by driving, the arm 112 is vibrated or shocked due to a sudden change in expansion / contraction speed or a sudden change in inertial load. The arm 112 can be expanded and contracted without industrial applicability

[0121] As described above, the dispensing device according to the present invention can be used for automatic analysis of clinical tests performed in hospitals, clinical laboratories, and the like. For example, when dispensing reagents to specimens, Suitable for improving the dispensing accuracy.

Claims

The scope of the claims

[1] A rotatable dispensing arm for transporting liquid sucked by a dispensing nozzle held at the tip to a predetermined discharge position at a predetermined suction position;

A drive motor for rotating the dispensing arm;

A crankshaft that is rotated by driving of the drive motor, and a crank rod that is connected to the crankshaft and that is rotated by the rotation of the crankshaft and that rotates the dispensing arm by the rotation. A transmission means;

A dispensing device characterized by comprising:

[2] The transmission means includes the dispensing arm when the dispensing arm starts to rotate from the predetermined suction position and when the dispensing arm stops rotating at the predetermined discharge position. 2. The dispensing apparatus according to claim 1, wherein the crankshaft and the crank rod are connected so that a change amount of the rotation angle of the crankshaft is small.

[3] The transmission means includes

A crankshaft rotating by driving of the drive motor;

A crank rod slider that is rotatable in conjunction with the rotation of the dispensing arm and has a through hole into which one end of the crank rod is inserted; and

A crank reno that is pivotally supported by the crankshaft and rotates as the crankshaft rotates;

One end of the crank rod slider is slidably inserted into a through hole formed in the crank rod slider, and the other end force S is pivotally supported on the crank lever by a crank pin, and the rotation axis of the crank rod slider is A crank rod for rotating the crank rod slider by rotating about the center; and

The dispensing apparatus according to claim 1, further comprising:

[4] The apparatus further comprises suction / discharge means for sucking and discharging the liquid,

2. The dispensing device according to claim 1, wherein the suction / discharge means is placed on the dispensing arm.

[5] The apparatus further comprises expansion / contraction means for moving the dispensing nozzle held at the tip of the dispensing arm in the extending direction of the dispensing arm by extending / contracting the dispensing arm. The dispensing device according to any one of claims 1 to 4, wherein

[6] The expansion and contraction means includes

A second drive motor for expanding and contracting the dispensing arm;

The second crankshaft that is rotated by the driving of the second drive motor and the second crankshaft that is connected to the second crankshaft and rotates by the rotation of the second crankshaft. 6. The dispensing apparatus according to claim 5, further comprising: a second transmission means including a second crank rod for extending and retracting the injection arm.

[7] The second transmission means is configured such that when the dispensing arm starts to expand and contract and when the dispensing arm stops extending and contracting, the amount of change in the expansion and contraction speed of the dispensing arm becomes small. The dispensing device according to claim 6, wherein the second crankshaft and the second crank rod are connected to each other.

[8] The second transmission means includes

A second crankshaft that rotates by driving the second drive motor;

A second crank lever pivotally supported by the second crank shaft and rotating as the second crank shaft rotates;

One end is pivotally supported by the second crank lever by a second crank pin, the other end is pivotally supported by the piston arm by a piston pin, and the piston arm is pivoted to rotate the dispensing arm. A second crank rod that expands and contracts,

The dispensing apparatus according to claim 6 or 7, further comprising: